ResearchBenchmarksFormation planning on Drone Swarm 20 agentsFollow0.012Mean Planning Time (s)FLIP0.010280.021890.03350.04511May 28, 2026Evaluation ResultsMethodMethodLinksMean Planning Time (s)Std Dev Planning Time (s)Formation Distance ErrorFLIP2026.050.0120.0070.368Zhou’s2026.050.0250.0170.4422Quan’s2026.050.0550.0380.3403